Design Strategies for Motion Reproduction Based on Environmental Disturbance Compensation

This paper proposes a novel motion reproduction method based on environmental disturbance (EnvDs) compensation. The preservation of skillful techniques is an important issue. Although the motion-copying system (MCS) was proposed to deal with this problem, a clear strategy still does not exist for adapting to the environmental variances between the motion saving and reproduction phases. Conventional methods cannot adapt to the difference properly because their control systems are just one-degree-of-freedom (DOF) control systems. In this paper, variances were defined as EnvDs, and the effect on the MCS was demonstrated. A 2-DOF control system structure was developed to compensate for EnvDs. The effectiveness of the proposed system was demonstrated through analysis and experimental results.